% Devin Koepl

classdef SimpleControllerClass < ControllerClass
    
    properties (Constant)
        
        controller_type = 'no integral term';
        
    end
    
    properties
        
    end
    
    methods
        
        function obj = SimpleControllerClass
            
        end
        
        function u = flight(obj, t, x)
            u = [0; 0];
        end
        
        function u = stance(obj, t, x, dxtdyt)    
            Fs = ActuatedModelClass.kl * ( ActuatedModelClass.RZ(x) - ActuatedModelClass.R(x) );
            
            u = [   0; 
                    1*Fs * ActuatedModelClass.rl / ActuatedModelClass.G];
                
%                 u = [   0; 
%                     Fs * ForceControlModelClass.rl / ForceControlModelClass.G ];
        end
        
        function lo( obj, t, x )
            
        end
        
        function td( obj, t, x )
            
        end
        
    end
    
end
